Control device for mobile body, control method for mobile body, and storage medium

Abstract

A mobile body capable of moving in both a lane and a prescribed area different from the lane, a mobile body control device, a mobile body control method, and a storage medium that appropriately control the mobile body when entering the prescribed area from the lane. A mobile body control device for a mobile body in which one or more passengers ride and which is capable of moving in both a lane and a prescribed area different from the lane, wherein the control device has a control section that limits a speed of the mobile body when moving on the lane to a first speed, limits a speed of the mobile body when moving in the prescribed area to a second speed lower than the first speed, and causes the speed of the mobile body to approach the second speed when the mobile body is moving on the lane, a connection portion is recognized within a prescribed range from the mobile body, and behavior of the mobile body satisfies a prescribed condition.

Description

TECHNICAL FIELD

[0001] The present application relates to a mobile body control device, a mobile body control method, and a storage medium. BACKGROUND

[0002] In the past, an invention of an electric vehicle for one person has been disclosed which is capable of moving on a sidewalk (Patent Literature 1).

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent Application Publication No. 2020-189536 SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] The conventional technology is not a technology that envisages a mobile body that is capable of moving on both a lane and a prescribed area different from the lane. Therefore, at times, appropriate control cannot be performed at the time of entry from the lane to the prescribed area.

[0008] The present application is made in consideration of such a situation, and one of the objects is to provide a mobile body control device, a mobile body control method, and a storage medium, regarding a mobile body that is capable of moving on both a lane and a prescribed area different from the lane, which are capable of performing appropriate control at the time of entry from the lane to the prescribed area.

[0009] MEANS FOR SOLVING THE PROBLEMS

[0010] The mobile body control device, the mobile body control method, and the storage medium of the present application adopt the following structure.

[0011] (1) The mobile body control device of one aspect of the present application is a mobile body control device for a mobile body on which one or more passengers ride and which is capable of moving on both a lane and a prescribed area different from the lane, wherein: an acquisition unit acquires information indicating behavior of the mobile body; a road type recognition unit recognizes whether the mobile body is moving on the lane or is moving in the prescribed area; a communication portion recognition unit recognizes presence of a communication portion of the lane on a travel direction side of the mobile body and the prescribed area; and a control unit at least partially controls a speed of the mobile body, limits the speed in a case where the mobile body is moving on the lane to a first speed, limits the speed in a case where the mobile body is moving in the prescribed area to a second speed lower than the first speed, and causes the speed of the mobile body to approach the second speed in a case where the mobile body is moving on the lane, the communication portion is recognized within a prescribed range from the mobile body, and the behavior of the mobile body satisfies a prescribed condition.

[0012] (2) In the aspect of (1) above, the prescribed condition is a condition for determining whether the moving body is in a state of swaying.

[0013] (3) In the aspect of (1) or (2) above, the control section inquires about an intention to enter the prescribed area using an interface device in a case where the moving body is moving on a lane, a communication section is recognized within a prescribed range from the moving body, and a behavior of the moving body satisfies the prescribed condition, and in a case where a positive response is obtained, causes the speed of the moving body to approach the second speed.

[0014] (4) In any of the aspects of (1) to (3) above, the acquisition section acquires a moving amount, speed, or acceleration of the moving body in a road width direction as information indicating a behavior of the moving body, and the prescribed condition includes a number of times of a direction reversal of the moving amount, speed, or acceleration in the road width direction during a reference period being equal to or more than a first threshold value.

[0015] (5) In any of the aspects of (1) to (4) above, the acquisition section acquires a position of the moving body in a road width direction as information indicating a behavior of the moving body, and the prescribed condition includes a time proportion or distance proportion of movement in a reference area in the lane that approaches the prescribed area during a reference period being equal to or more than a second threshold value.

[0016] (6) In any of the aspects of (1) to (5) above, the acquisition section acquires an acceleration of the moving body in a road length direction as information indicating a behavior of the moving body, and the prescribed condition includes a number of times of a reversal of the acceleration in the road length direction during a reference period being equal to or more than a third threshold value.

[0017] (7) In any of the aspects of (1) to (6) above, the acquisition section acquires a yaw rate of the moving body as information indicating a behavior of the moving body, and the prescribed condition includes a number of times of generation of a yaw rate equal to or more than a reference value during a reference period being equal to or more than a fourth threshold value.

[0018] (8) In any of the aspects of (1) to (7) above, the road type recognition section recognizes whether the moving body is moving on a lane or is moving in the prescribed area based on an output of an external recognition device that recognizes a situation outside the moving body.

[0019] (9) In any of the aspects of (1) to (8) above, the road type recognition section recognizes whether the moving body is moving on a lane or is moving in the prescribed area based on an operation of a switch provided inside the moving body by the occupant.

[0020] (10): In any of the above (1) to (9), the road type recognition section causes an external reporting device to report to the outside of the mobile body that it is moving in the prescribed area, in a case where it is recognized that the mobile body is moving in the prescribed area.

[0021] (11): In the control method of the mobile body according to the other aspect of the present application, a computer that controls a mobile body on which one or more passengers ride and which is capable of moving in both a lane and a prescribed area different from the lane, executes the following steps: acquires information indicating a behavior of the mobile body, recognizes whether the mobile body is moving in the lane or in the prescribed area, recognizes existence of a communication portion of the lane on a travel direction side of the mobile body to the prescribed area, controls a speed of the mobile body at least partially, limits the speed of the mobile body in a case where it is moving in the lane to a first speed, limits the speed of the mobile body in a case where it is moving in the prescribed area to a second speed lower than the first speed, and causes the speed of the mobile body to approach the second speed in a case where the mobile body is moving in the lane, the communication portion is recognized within a prescribed range from the mobile body, and the behavior of the mobile body satisfies a prescribed condition.

[0022] (12): The storage medium according to the other aspect of the present application stores a program that causes a computer that controls a mobile body on which one or more passengers ride and which is capable of moving in both a lane and a prescribed area different from the lane to execute the following steps: acquires information indicating a behavior of the mobile body, recognizes whether the mobile body is moving in the lane or in the prescribed area, recognizes existence of a communication portion of the lane on a travel direction side of the mobile body to the prescribed area, controls a speed of the mobile body at least partially, limits the speed of the mobile body in a case where it is moving in the lane to a first speed, limits the speed of the mobile body in a case where it is moving in the prescribed area to a second speed lower than the first speed, and causes the speed of the mobile body to approach the second speed in a case where the mobile body is moving in the lane, the communication portion is recognized within a prescribed range from the mobile body, and the behavior of the mobile body satisfies a prescribed condition.

[0023] (13): The mobile body control device of another aspect of the present application is a mobile body control device for a mobile body on which one or more passengers are riding and which is capable of moving on a lane and in a prescribed area different from the lane, and includes: an acquisition unit that acquires information indicating behavior of the mobile body; a lane type recognition unit that recognizes whether the mobile body is moving on the lane or in the prescribed area; a communication portion recognition unit that recognizes presence of a communication portion between a lane on a travel direction side of the mobile body and the prescribed area; and a control unit that controls a speed of the mobile body at least partially, limits the speed to a first speed in a case where the mobile body is moving on the lane, limits the speed to a second speed lower than the first speed in a case where the mobile body is moving in the prescribed area, and proposes deceleration to the passengers using an interface device in a case where the mobile body is moving on the lane, the communication portion is recognized within a prescribed range from the mobile body, and the behavior of the mobile body satisfies a prescribed condition.

[0024] (14): In the mobile body control method of another aspect of the present application, a computer that controls a mobile body on which one or more passengers are riding and which is capable of moving on a lane and in a prescribed area different from the lane executes the following steps: acquiring information indicating behavior of the mobile body, recognizing whether the mobile body is moving on the lane or in the prescribed area, recognizing presence of a communication portion between a lane on a travel direction side of the mobile body and the prescribed area, controlling a speed of the mobile body at least partially, limiting the speed to a first speed in a case where the mobile body is moving on the lane, limiting the speed to a second speed lower than the first speed in a case where the mobile body is moving in the prescribed area, and proposing deceleration to the passengers using an interface device in a case where the mobile body is moving on the lane, the communication portion is recognized within a prescribed range from the mobile body, and the behavior of the mobile body satisfies a prescribed condition.

[0025] (15): The storage medium of other aspects of the present application stores a program that causes a computer that controls a mobile body that one or more passengers ride and that is able to move in both a lane and a prescribed area different from the lane to execute the following steps: acquires information indicating a behavior of the mobile body, identifies whether the mobile body is moving on the lane or moving in the prescribed area, identifies existence of a communication portion of the lane on a travel direction side of the mobile body and the prescribed area, at least partially controls a speed of the mobile body, limits the speed of the mobile body when moving on the lane to a first speed, limits the speed of the mobile body when moving in the prescribed area to a second speed lower than the first speed, in a case where the mobile body is moving on the lane, the communication portion is identified within a prescribed range from the mobile body, and the behavior of the mobile body satisfies a prescribed condition, proposes deceleration to the passenger using an interface device.

[0026] Effects of Invention

[0027] According to the aspects (1) to (15), with respect to the mobile body that is able to move in both the lane and the prescribed area different from the lane, appropriate control can be performed at the time of entry from the lane to the prescribed area. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a diagram showing an example of a structure of the mobile body 1 and the control device 100 of the embodiment.

[0029] Figure 2 is a perspective view when the mobile body 1 is viewed from above.

[0030] Figure 3 is a diagram for explaining elements that can be included in the behavior of the mobile body 1.

[0031] Figure 4 is a diagram illustrating a shape of the communication portion.

[0032] Figure 5 is a diagram illustrating a shape of the communication portion.

[0033] Figure 6 is a diagram illustrating a shape of the communication portion.

[0034] Figure 7 is a diagram for explaining the condition (B).

[0035] Figure 8 is a diagram showing an example of a scenario in which the specific speed control is performed.

[0036] Figure 9 is a flowchart showing an example of a flow of processing performed by the control device 100 of the embodiment.

[0037] Explanation of reference signs:

[0038] 10 external sensing device

[0039] 12 moving body sensor

[0040] 14 operation member

[0041] 16 internal camera

[0042] 18 position measuring device

[0043] 20 conversation device

[0044] 22 mode switching switch

[0045] 30 moving mechanism

[0046] 40 drive device

[0047] 50 external reporting device

[0048] 70 storage device

[0049] 100 control device

[0050] 110 acquisition section

[0051] 120 road type recognition section

[0052] 130 connected section recognition section

[0053] 140 control section DETAILED DESCRIPTION

[0054] Hereinafter, an embodiment of a control device for a moving body, a control method for a moving body, and a storage medium will be described with reference to the drawings. The moving body moves in both a lane and a prescribed area different from the lane. The prescribed area is, for example, a sidewalk. In addition, the prescribed area can be a part or all of a road shoulder, a bicycle lane, a public open space, or the like, and can include all of the sidewalk, the road shoulder, the bicycle lane, the public open space, or the like. In the following description, it is assumed that the prescribed area is a sidewalk. The part described as "sidewalk" in the following description can be appropriately changed to "prescribed area".

[0055] <First Embodiment>

[0056] Figure 1is a drawing showing an example of the structure of the mobile body 1 and the control device 100 of the embodiment. The mobile body 1 is provided with, for example, an outside recognizing device 10, a mobile body sensor 12, an operation member 14, an internal camera 16, a position measuring device 18, a dialogue device 20, a mode switching switch 22, a mobile mechanism 30, a drive device 40, an external reporting device 50, a storage device 70, and the control device 100. Note that a part of the structures that is not necessary for the functions to achieve the present application can be omitted.

[0057] The outside recognizing device 10 is various devices that recognize the outside of the mobile body 1 in the traveling direction of the mobile body 1. The outside recognizing device 10 includes an external camera, a radar device, a LIDAR (Light Detection and Ranging), a sensor fusion device, and the like. The outside recognizing device 10 outputs information (an image, a position of an object, and the like) indicating the recognition result to the control device 100.

[0058] The mobile body sensor 12 includes, for example, a speed sensor, an acceleration sensor, a yaw rate (angular velocity) sensor, a direction sensor, an operation amount detection sensor attached to the operation member 14, and the like. The operation member 14 includes, for example, an operation member (for example, an accelerator pedal, a brake pedal) for instructing acceleration and deceleration and an operation member (for example, a steering wheel) for instructing steering. In this case, the mobile body sensor 12 can include an accelerator opening degree sensor, a brake depression amount sensor, a steering torque sensor, and the like. The mobile body 1 can be provided with an operation member other than the above (for example, a rotary operation member other than a circular ring, a joystick, a button, and the like) as the operation member 14.

[0059] The internal camera 16 photographs at least the head of an occupant of the mobile body 1 from the front. The internal camera 16 is a digital camera that uses a CCD (Charge Coupled Device), a CMOS (Complementary Metal Oxide Semiconductor), or the like as an imaging element. The internal camera 16 outputs the photographed image to the control device 100.

[0060] The position measuring device 18 is a device that measures the position of the mobile body 1. The position measuring device 18 is, for example, a GNSS (Global Navigation Satellite System) receiver that determines the position of the mobile body 1 based on a signal received from a GNSS satellite and outputs the position as position information. Note that the position information of the mobile body 1 can be estimated from the position of a Wi-Fi base station to which the communication device described later is connected.

[0061] The dialog device 20 includes, for example, a speaker, a microphone, a touch panel, a communication device, and the like. The dialog device 20 appropriately processes a voice of the occupant collected by the microphone, transmits to the server device via a network using the communication device, and performs a voice-based information provision from the speaker based on information sent back from the server device. The dialog device 20 is also referred to as an agent device, a concierge device, an assistant device, and the like. The server device has a voice recognition function, a natural language processing function, a meaning interpretation function, a send-back content decision function, and the like. In addition, the dialog device 20 can transmit position information to the server device, and the server device can send back information of a facility that meets a request (for example, "Is there a good ramen shop near here?" and the like) issued by the occupant based on the position information. In this case, voice guidance such as "You are at a place where you have to turn left ahead" is performed by the dialog device 20. The dialog device 20 is not limited to this, and has a function of making an appropriate reply to a natural utterance of the occupant. In addition, the dialog device 20 can have a function of performing a simple dialogue without going through the server device by inquiring from the device side and accepting a reply, and inquiring from the occupant and the like according to a request from the control device 100. The dialog device 20 is an example of an interface device.

[0062] The mode switching switch 22 is a switch operated by the occupant. The mode switching switch 22 can be a mechanical switch, or a GUI (Graphical User Interface) switch provided on a touch panel. The mode switching switch 22, for example, accepts an operation of switching the driving mode to any one of mode A (a speed assist mode in which the steering operation is performed by the occupant and the acceleration / deceleration control is automatically performed), mode B (a manual driving mode in which the steering operation and the acceleration / deceleration operation are performed by the occupant), and mode C (an automatic driving mode in which the operation control and the acceleration / deceleration control are automatically performed).

[0063] The moving mechanism 30 is a mechanism for moving the mobile body 1 on a road. The moving mechanism 30 is, for example, a wheel group including a steering wheel and a drive wheel. In addition, the moving mechanism 30 can be a leg for multi-legged walking.

[0064] The drive device 40 outputs a force to the moving mechanism 30 to move the mobile body 1. The drive device 40 includes, for example, a motor that drives the drive wheel, a battery that accumulates power supplied to the motor, a steering device that adjusts a steering angle of the steering wheel, and the like. The drive device 40 can also have an internal combustion engine, a fuel cell, and the like as a driving force output mechanism or a power generation mechanism. In addition, the drive device 40 can further have a brake device based on a frictional force, an air resistance, and the like.

[0065] The external reporting device 50 is, for example, a lamp, a display device, a speaker, or the like provided to an outer panel portion of the mobile body 1 and used for reporting information to the outside of the mobile body 1. The external reporting device 50 performs different actions in a state where the mobile body 1 is moving on a sidewalk and a state where the mobile body 1 is moving on a lane. For example, the external reporting device 50 is controlled in a manner such that the lamp is made to emit light in a case where the mobile body 1 is moving on a sidewalk and the lamp is not made to emit light in a case where the mobile body 1 is moving on a lane. The emission color of the lamp is preferably a color determined by a regulation. In a case where the external reporting device 50 is a display device, the external reporting device 50 displays the intent "driving on a sidewalk" in text or graphics in a case where the mobile body 1 is driving on a sidewalk.

[0066] Figure 2 is a perspective view when the mobile body 1 is viewed from above. In the drawing, FW is a steering wheel, RW is a drive wheel, SD is a steering device, MT is a motor, and BT is a storage battery. In addition, AP is an accelerator pedal, BP is a brake pedal, WH is a steering wheel, SP is a speaker, and MC is a microphone. The illustrated mobile body 1 is a one-person mobile body, and an occupant P is seated on a driver seat DS and wears a seat belt SB. An arrow D1 is a traveling direction (a speed vector) of the mobile body 1. The external sensing device 10 is provided near a front end portion of the mobile body 1, the internal camera 16 is provided at a position capable of capturing a head portion of the occupant P from a front of the occupant P, and the mode switching switch 22 is provided to a hub portion of the steering wheel WH. In addition, the external reporting device 50 as a display device is provided near the front end portion of the mobile body 1.

[0067] Back to Figure 1 The storage device 70 is, for example, a non-transitory storage device such as an HDD (Hard Disk Drive), a flash memory, a RAM (Random Access Memory), or the like. The storage device 70 stores therein map information 72, a program 74 executed by the control device 100, and the like. In the drawing, the storage device 70 is described outside a block of the control device 100, but the storage device 70 can also be included in the control device 100.

[0068] [Control Device]

[0069] The control device 100 includes, for example, an acquisition unit 110, a road type identification unit 120, a connection unit identification unit 130, and a control unit 140. For example, these are realized by a hardware processor such as a CPU (Central Processing Unit) executing a program (software) 74. Part or all of these components can also be realized by a hardware (circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), a GPU (Graphics Processing Unit), and the like, and can also be realized by a combination of software and hardware. The program can be stored in advance in the storage device 70, or in a removable storage medium (non-transitory storage medium) such as a DVD, a CD-ROM, and the like, and installed in the storage device 70 by mounting the storage medium in a drive device.

[0070] The acquisition unit 110 acquires information indicating the behavior of the mobile body 1. The information indicating the behavior of the mobile body 1 is, for example, the position of the mobile body 1 in the road width direction, the movement amount, the speed or acceleration, the acceleration in the road length direction, or the yaw rate, and the like. Figure 3 is a diagram for describing elements that can be included in the behavior of the mobile body 1. The position Y of the mobile body 1 in the road width direction is indicated by, for example, the distance from either of the left and right ends of the road to a representative point (for example, the center of the front end portion, the center of gravity, or the like) M1 of the mobile body 1. In the drawing, Y1 is the distance from the left end of the road (in the drawing, the white line CL1 indicating the left end of the lane RW) to the representative point M1 of the mobile body 1, and Yr is the distance from the right end of the road (in the drawing, the broken line CL2 dividing the lane in which the mobile body 1 is present and the opposite lane) to the representative point M1 of the mobile body 1. In the following description, the distance Y1 from the left end of the road to the representative point M1 of the mobile body 1 is assumed to be acquired as the position Y of the mobile body 1 in the road width direction. It is not limited to the case where the positions of the road division lines are recognized as the left and right ends of the road, and it can also be the case where a shoulder, a guardrail, a median, or the like is recognized as the left and right ends of the road.

[0071] The acquisition unit 110, for example, acquires the distance of the road division line CL1 input from the outside recognition device 10 with respect to the representative point M1 of the mobile body 1 as the position of the mobile body 1 in the road width direction. The movement amount ΔY of the mobile body 1 in the road width direction is information indicating how much distance is moved in which direction of the road width direction in the observation period Δt (may be different from the reference period ΔT described later, for example, is a value shorter than the reference period ΔT). The acquisition unit 110 can calculate the movement amount ΔY of the mobile body 1 in the road width direction based on the change of the position Y of the mobile body 1 in the road width direction in the observation period, or can calculate the movement amount of the mobile body 1 in the road width direction by integrating the speed VY of the mobile body 1 in the road width direction. In addition, the acquisition unit 110 acquires the speed, acceleration, or yaw rate in each direction based on the detection value of the mobile body sensor 12.

[0072] The road type recognition unit 120 recognizes whether the mobile body 1 is moving on the road or moving on the sidewalk. The road type recognition unit 120, for example, recognizes whether the mobile body 1 is moving on the road or moving on the sidewalk by analyzing the image captured by the external camera of the outside recognition device 10. As an example of image analysis, semantic segmentation can be given. The road type recognition unit 120 classifies each pixel within the frame of the image into a level (road, sidewalk, boundary, obstacle, etc.) and assigns a label, and in a case where a large number of pixels in the area corresponding to the front of the mobile body 1 in the image are assigned a label of the road, it is recognized that the mobile body 1 is moving on the road, and in a case where a large number of pixels in the area corresponding to the front of the mobile body 1 in the image are assigned a label of the sidewalk, it is recognized that the mobile body 1 is moving on the sidewalk. Not limited thereto, the road type recognition unit 120 can also recognize that the mobile body 1 is moving on the road in a case where a vehicle is recognized in the area corresponding to the front of the mobile body 1 in the image, and recognize that the mobile body 1 is moving on the sidewalk in a case where a pedestrian is recognized in the area corresponding to the front of the mobile body 1 in the image. In addition, the road type recognition unit 120 can also recognize that the mobile body 1 is moving on the road in a case where the width of the road surface area in the area corresponding to the front of the mobile body 1 in the image is large, and recognize that the mobile body 1 is moving on the sidewalk in a case where the width of the road surface area in the area corresponding to the front of the mobile body 1 in the image is small. In addition, the road type recognition unit 120 can also recognize whether the mobile body 1 is moving on the road or moving on the sidewalk by comparing the position information of the mobile body 1 with the map information 72. The map information in this case needs to have a degree of precision that can distinguish a sidewalk and a road according to the position coordinates. In a case where the "specified area" is not only a sidewalk, the road type recognition unit 120 also performs the same processing with respect to a road shoulder, a bicycle lane, a public open space, and the like.

[0073] The communication portion recognition portion 130 recognizes the presence of a communication portion of a sidewalk and a lane on the advancing direction side of the mobile body. The communication portion is provided at a boundary portion of the sidewalk and the lane, and refers to a portion that has a small burden on passing compared to a portion other than the communication portion of the boundary portion. For example, in a case where a step is provided at the boundary portion of the sidewalk and the lane, a portion where the step is moderated (including becoming coplanar with respect to the sidewalk and the lane) corresponds to the communication portion. Figures 4 to 6 is a diagram that illustrates the shape of the communication portion. As Figure 4 indicated, the communication portion CP is, for example, a portion where a block BK of the boundary portion is lowered together with the sidewalk SW. In the diagram, RW indicates a lane. As Figure 5 indicated, the communication portion CP can also be a portion where a step elimination plate PT that places a step of the lane RW and the sidewalk SW. As Figure 6 indicated, the communication portion CP can also be a portion where a block BK that forms a step of the lane RW and the sidewalk SW is missing. In addition to these illustrated modes, various modes of the communication portion CP can be assumed. The communication portion CP can also exist not only in the middle portion of the road but also at an intersection or the like. The communication portion recognition portion 130, for example, recognizes the presence of the communication portion CP by inputting an image captured by the external camera to a learned model that is learned in such a way that if an image is input, information indicating the position of the communication portion CP is output. The communication portion recognition portion 130 can also recognize the presence of the communication portion CP based on the shape of the step obtained as a result of scanning the obliquely downward direction with the LIDAR.

[0074] The control portion 140 controls the driving device 40, for example, in accordance with a set driving mode.

[0075] In mode A, the control section 140 controls the drive device 40 in such a manner that the distance to the object existing in front of the mobile body 1 is maintained to be constant or more, and the mobile body 1 moves at the first speed VI (for example, a speed of ten [km / h] or more and less than several ten [km / h]) in the case where the distance to the object existing in front of the mobile body 1 is sufficiently long, in the case where the mobile body 1 moves on the lane. The control section 140 controls the drive device 40 in such a manner that the distance to the object existing in front of the mobile body 1 is maintained to be constant or more, and the mobile body 1 moves at the second speed V2 (for example, a speed of less than ten [km / h]) in the case where the distance to the object existing in front of the mobile body 1 is sufficiently long, in the case where the mobile body 1 moves on the sidewalk. This function is the same as the ACC (Adaptive Cruise Control) function of the vehicle in which the first speed VI or the second speed V2 is set as the set speed, and can utilize the technology used in the ACC. In addition, in mode A, the control section 140 controls the steering angle of the steering wheel based on the operation amount of the operation member 14 such as a steering wheel. This function is the same as the function of the power steering device, and can utilize the technology used in the power steering device. Note that it can also be that, as for the steering, the mobile body 1 has a steering device in which the operation member 14 and the steering mechanism are mechanically linked, and electronic control is not performed.

[0076] In mode B, the control section 140 controls the drive device 40 based on the speed of the mobile body 1 and the operation amount of the accelerator pedal or the brake pedal. The control section 140 controls the drive device 40 in such a manner that the first speed VI is set as the upper limit speed in the case where the mobile body 1 is moving on the lane (meaning that, in mode B, in the case where the upper limit speed is reached, the mobile body 1 is not accelerated even if there is a further acceleration instruction), and the second speed V2 is set as the upper limit speed in the case where the mobile body 1 is moving on the sidewalk. As for the steering, it is the same as in mode A.

[0077] In mode C, the control section 140 detects the travel road and the obstacle based on the output of the outside recognizing means 10, generates a target track in which the obstacle can be avoided within the travel road, and controls the drive device 40 in such a manner that the mobile body 1 moves along the target track. In mode C as well, the control section 140 controls the drive device 40 in such a manner that the first speed VI is set as the upper limit speed in the case where the mobile body 1 is moving on the lane, and the second speed V2 is set as the upper limit speed in the case where the mobile body 1 is moving on the sidewalk. Note that, as for mode C, since it does not constitute the core of the present application, detailed explanation thereof is omitted.

[0078] [Control in correspondence with the presence of the communication section]

[0079] Hereinafter, the control performed by the control section 140 corresponding to the presence of the communication section will be described in order from Mode A. In Mode A, the control section 140 causes the speed of the mobile body 1 to approach the second speed V2 from the first speed VI in a case where the mobile body 1 is moving on the lane and the communication section is recognized within the prescribed range from the mobile body 1 and the behavior of the mobile body 1 satisfies a prescribed condition. "Causing the speed of the mobile body 1 to approach the second speed V2 from the first speed VI" means that the mobile body 1 is decelerated except for a case where the mobile body 1 is moving at a low speed or is stopped due to the presence of an obstacle. At this time, the control section 140 can also inquire about the intention of entering the sidewalk using the dialogue device 20, and in a case where a positive response is obtained, causes the speed of the mobile body 1 to approach the second speed V2, and in a case where a positive response is not obtained, does not cause the speed of the mobile body 1 to approach the second speed V2. Hereinafter, "causing the speed of the mobile body 1 to approach the second speed V2 from the first speed VI in a case where the mobile body 1 is moving on the lane and the communication section is recognized within the prescribed range from the mobile body 1 and the behavior of the mobile body 1 satisfies a prescribed condition" regardless of the presence or absence of the inquiry will be referred to as "specific speed control".

[0080] The prescribed condition is a condition for determining whether the mobile body 1 is in a state of swaying. The prescribed condition includes some or all of the following conditions in the form of an and condition or an or condition. That is, the control section 140 can determine that the prescribed condition is satisfied in a case where one of the following conditions (A) to (D) is satisfied, and can determine that the prescribed condition is satisfied in a case where a plurality of conditions are satisfied at the same time.

[0081] (Condition (A))

[0082] The prescribed condition includes, for example, the number of times of reversal of the direction of the movement amount ΔY, the speed VY, or the acceleration αY in the road width direction in the reference period ΔT is the first threshold Thl or more. "Reversal" means a change to the opposite. In the determination of this prescribed condition, the number of times of small-scale reversal of the movement amount ΔY, the speed VY, or the acceleration αY around zero can also be not counted as an error factor. In a case where this condition is satisfied, it is presumed that lateral movement in the opposite direction occurs a plurality of times in a short period, and thus the traffic situation of the lane is mixed, smooth movement is difficult, or the accuracy of the steering operation decreases due to fatigue of the occupant P. Therefore, it can be considered that the possibility of the occupant P generating a feeling of wanting to enter the sidewalk and continue moving is high.

[0083] (Condition (B))

[0084] The prescribed condition includes, for example, the time ratio or the distance ratio β of movement in the reference region of the lane that approaches the sidewalk in the reference period ΔT is the second threshold Th2 or more. Figure 7is a diagram for explaining the condition (B). In the diagram, Al is a reference region. In the example of the present diagram, a ratio β is calculated as a distance ratio. Since the mobile body 1 moves in such a region, the possibility of further subtle behavior such as vibration occurring in the mobile body 1 due to the unevenness of the shoulder increases. Therefore, it can be considered that the possibility of the occupant P having a feeling of wanting to enter the sidewalk and continuing to move is high.

[0085] (Condition (C))

[0086] The prescribed condition includes, for example, the number of times of acceleration reversal (i.e., the number of times of acceleration and deceleration) in the road length direction in the reference period ΔT being equal to or greater than a third threshold value Th3. In a case where this condition is satisfied, it is presumed that the traffic situation of the lane is mixed, smooth movement is difficult, or the accuracy of the steering operation decreases due to fatigue of the occupant P. Therefore, it can be considered that the possibility of the occupant P having a feeling of wanting to enter the sidewalk and continuing to move is high.

[0087] (Condition (D))

[0088] The prescribed condition includes, for example, the number of times of yaw rate equal to or greater than the reference value occurring in the reference period being equal to or greater than a fourth threshold value. In a case where this condition is satisfied, it is presumed that the traffic situation of the lane is mixed, smooth movement is difficult, or the accuracy of the steering operation decreases due to fatigue of the occupant P due to a plurality of sharp turns occurring in a short period. Therefore, it can be considered that the possibility of the occupant P having a feeling of wanting to enter the sidewalk and continuing to move is high.

[0089] Figure 8 is a diagram showing an example of a scenario in which the specific speed control is performed. In the diagram, X is the distance of the mobile body 1 from the communication portion CP. The distance X is defined, for example, as the distance from the most rearward position of the communication portion CP to the front end portion of the mobile body 1, but is not limited thereto and can be arbitrarily defined, such as from the central portion of the communication portion CP to the center of gravity of the mobile body 1. In a case where the distance X is equal to or less than a prescribed distance (an example in which the communication portion CP is within a prescribed range from the mobile body 1) and the behavior of the mobile body 1 satisfies a prescribed condition, the specific speed control is performed. In the diagram, TJ is the past trajectory of the mobile body 1, indicating that shaking has occurred.

[0090] In mode B, the control section 140 gradually switches the upper limit speed of the mobile body 1 from the first speed VI to the second speed V2 in a case where the mobile body 1 is moving on the lane, a communication portion is recognized within a prescribed range from the mobile body 1, and the behavior of the mobile body 1 satisfies a prescribed condition (confirmation based on inquiry can further be made). Instead, in mode B, in a case where the above-described conditions are satisfied, the control section 140 can stop at merely proposing, using the dialogue device 20, approaching the second speed V2 by manual operation of the accelerator pedal AP and the brake pedal BP. For example, the control section 140 causes the dialogue device 20 to output a sound such as "Please decelerate if you are going to enter the sidewalk". The definition of the prescribed state is the same as in mode A.

[0091] Figure 9 is a flowchart showing an example of a flow of processing performed by the control device 100 of the embodiment. The processing of this flowchart is premised on mode A. The processing of this flowchart is repeatedly performed, for example, at a prescribed period.

[0092] First, the road type recognition section 120 determines whether the mobile body 1 is moving on the lane (whether the mobile body 1 is moving on the sidewalk) (step S200). In a case where it is determined that the mobile body 1 is moving on the lane, the control section 140 performs control in a case where the mobile body 1 is moving on the lane as described above (step S202). Next, the control section 140 determines whether a communication portion CP exists within a prescribed range on the traveling direction side of the mobile body 1 based on the recognition result of the communication portion recognition section 130 (step S206). In a case where it is determined that a communication portion CP exists within the prescribed range on the traveling direction side of the mobile body 1, the control section 140 determines whether the behavior of the mobile body 1 satisfies a prescribed condition based on the information provided from the acquisition section 110 (step S208). In a case where it is determined that the behavior of the mobile body 1 satisfies the prescribed condition, the control section 140 performs specific speed control (step S210).

[0093] In a case where a negative determination result is obtained in step S206 or S208, the processing of one routine of this flowchart ends. In addition, in a case where it is determined that the mobile body 1 is moving on the sidewalk in step S200, the control section 140 performs control in a case where the mobile body 1 is moving on the sidewalk (step S204).

[0094] According to the first embodiment described above, with respect to the mobile body that is able to move on both the road and the sidewalk, appropriate control can be performed at the time of entry from the road to the sidewalk. In a case where the behavior of the mobile body 1 satisfies the prescribed condition, as described above, it is presumed that the traffic situation of the road is mixed, smooth movement is difficult, or the accuracy of the steering operation is decreased due to fatigue of the occupant P. Therefore, in a case where the behavior of the mobile body 1 satisfies the prescribed condition, it is presumed that the probability of the occupant operating the steering wheel WH at the approaching crosswalk CP to cause the mobile body 1 to enter the sidewalk is increased. However, since there is a difference between the first speed VI that is the upper limit speed or the target speed in the road and the second speed V2 that is the upper limit speed or the target speed in the sidewalk, in a case where the mobile body 1 that is moving at the first speed VI suddenly enters the sidewalk, a scenario in which it is necessary to suddenly decelerate can occur. In addition, if the turning for entry to the sidewalk is started while moving at a relatively high speed, i.e., the first speed VI, a large lateral acceleration is also feared. That is, if deceleration is performed after actually starting the turning, it can be late.

[0095] In contrast to this, the control device 100 of the embodiment causes the speed of the mobile body to approach the second speed V2 in a case where the mobile body 1 is moving on the road, a crosswalk CP is recognized within a prescribed range in the traveling direction of the mobile body 1, and the behavior of the mobile body 1 satisfies the prescribed condition, and thus it is possible to suppress the occurrence of the above-described sudden deceleration and sudden turning. As a result, appropriate control can be performed at the time of entry from the road to the sidewalk.

[0096] <Second Embodiment>

[0097] The second embodiment will be described below. In the control device 100 of the second embodiment, the function of the road type recognition section 120 is different from that of the first embodiment. The road type recognition section 120 of the second embodiment recognizes whether the moving body 1 is traveling on a lane or on a sidewalk, for example, in accordance with an operation of an occupant on a road type input switch (not shown) provided to the moving body. The road type input switch is provided to, for example, a hub portion of a steering wheel WH or the like. The road type input switch is capable of being operated up and down, for example, and has a mechanism that holds the position operated, and indicates a lane in the case of being operated to the upper side and a sidewalk in the case of being operated to the lower side. Alternatively, the road type input switch can be in the form of a button or a GUI switch, and is switched to recognition of travel on a sidewalk in the case of being operated in a state in which the control device 100 recognizes travel on a lane, and is switched to recognition of travel on a lane in the case of being operated in a state in which the control device 100 recognizes travel on a sidewalk. With this structure, the function of automatically recognizing whether the moving body 1 is traveling on a lane or on a sidewalk can be omitted, and the processing load and cost can be reduced. However, since there is a possibility of an occupant misoperating, in the second embodiment, it is preferable to perform information reporting to the outside by the external reporting device 50.

[0098] <Other>

[0099] In each of the above embodiments, the control section 140 can also perform control of only either one of the mode A and the mode B. That is, the moving body 1 can perform the speed assistance mode but not the manual mode, and can also perform the manual mode but not the speed assistance mode. Alternatively, the control section 140 can perform control of both the mode A and the mode B, but as for the specific speed control, only in the case of performing either one of the mode A and the mode B. In either case, whether or not to perform control of the mode C can be arbitrarily decided.

[0100] The above-described embodiments can be expressed as follows.

[0101] A control device of a moving body, comprising:

[0102] a storage device that stores a program; and

[0103] a hardware processor,

[0104] the control device is configured to:

[0105] perform, by the hardware processor executing the program stored in the storage device, a process of:

[0106] acquiring information indicating a behavior of a moving body that is to be occupied by one or more occupants and is capable of moving on both a lane and a prescribed area different from the lane;

[0107] identify whether the moving body is moving on a lane or in the prescribed area,

[0108] identify existence of a communication portion of a lane on a traveling direction side of the moving body and the prescribed area,

[0109] at least partially control a speed of the moving body,

[0110] limit the speed of the moving body when moving on the lane to a first speed,

[0111] limit the speed of the moving body when moving in the prescribed area to a second speed lower than the first speed,

[0112] in a case where the moving body is moving on the lane, the communication portion is identified within a prescribed range from the moving body, and a behavior of the moving body satisfies a prescribed condition, cause the speed of the moving body to approach the second speed,

[0113] the prescribed condition is a condition for determining whether the moving body is in a swaying state.

[0114] The embodiment described above can also be expressed as follows.

[0115] A control device of a moving body, comprising:

[0116] a storage device that stores a program; and

[0117] a hardware processor,

[0118] the control device is configured to:

[0119] perform, by the hardware processor, a process of executing the program stored in the storage device, the process including:

[0120] acquiring information representing a behavior of a moving body that is to be occupied by one or more occupants and is capable of moving in both a lane and a prescribed area different from the lane,

[0121] identifying whether the moving body is moving on a lane or in the prescribed area,

[0122] identifying existence of a communication portion of a lane on a traveling direction side of the moving body and the prescribed area,

[0123] at least partially controlling a speed of the moving body,

[0124] limiting the speed of the moving body when moving on the lane to a first speed,

[0125] limiting a speed of the moving body in a case where the moving body moves in the prescribed region to a second speed lower than the first speed,

[0126] in a case where the moving body is moving on a lane, the communication portion is recognized within a prescribed range from the moving body, and behavior of the moving body satisfies a prescribed condition, proposing deceleration to the occupant using an interface device,

[0127] the prescribed condition is a condition for determining whether the moving body is in a swaying state.

[0128] The above describes the specific embodiments of the present application using the embodiments, but the present application is not at all limited by such embodiments, and various modifications and substitutions can be applied within the scope of the gist of the present application.

Claims

1. A control device for a mobile body, the mobile body being used by one or more occupants and capable of moving between a lane and a designated area different from the lane, wherein, The control device includes: The acquisition unit acquires information representing the behavior of the moving body; The road type identification unit identifies whether the moving body is moving in a lane or in the designated area; A connection identification unit identifies the existence of a connection between the lane on the travel direction side of the moving body and the designated area; as well as The control unit at least partially controls the speed of the moving body, limiting the speed of the moving body to a first speed when it is moving on a lane, and limiting the speed of the moving body to a second speed lower than the first speed when it is moving in the designated area. When the moving body is moving on the lane, and the connecting part is detected within a predetermined range from the moving body, and the behavior of the moving body meets predetermined conditions, the control unit causes the speed of the moving body to approach the second speed. The specified conditions are used to determine whether the moving body is in a shaking state.

2. The control device for the moving body according to claim 1, wherein, When the mobile body is moving on the lane, and the connecting part is detected within a specified range from the mobile body, and the behavior of the mobile body meets the specified conditions, the control unit uses an interface device to query the intention to enter the specified area. If an affirmative response is received, the control unit causes the speed of the mobile body to approach the second speed.

3. The control device for a moving body according to claim 1 or 2, wherein, The acquisition unit acquires the amount of movement, speed, or acceleration of the moving body in the road width direction as information representing the behavior of the moving body. The specified conditions include the number of times the direction of the movement, speed, or acceleration in the road width direction is reversed during the reference period being greater than a first threshold.

4. The control device for a moving body according to claim 1 or 2, wherein, The acquisition unit acquires the position of the moving body in the road width direction as information representing the behavior of the moving body. The specified conditions include a second threshold being met or exceeded by a proportion of time or distance traveled within a reference area in the lane that is close to the specified area during the reference period.

5. The control device for a moving body according to claim 1 or 2, wherein, The acquisition unit acquires the acceleration of the moving body in the road length direction as information representing the behavior of the moving body. The specified conditions include the number of acceleration reversals in the road length direction during the reference period being more than the third threshold.

6. The control device for a moving body according to claim 1 or 2, wherein, The acquisition unit acquires the yaw rate of the moving body as information representing the behavior of the moving body. The specified conditions include the number of times a yaw rate above the reference value is generated during the reference period being the fourth threshold or higher.

7. The control device for a moving body according to claim 1 or 2, wherein, The road type identification unit identifies whether the moving body is moving on a lane or in the designated area based on the output of an external detection device that detects the external conditions of the moving body.

8. The control device for a moving body according to claim 1 or 2, wherein, The road type identification unit identifies whether the vehicle is moving on a lane or in a designated area based on the occupant's operation of a switch located inside the vehicle.

9. The control device for a moving body according to claim 1 or 2, wherein, When the road type identification unit detects that the moving body is moving in the designated area, it causes the external reporting device to report to the outside of the moving body that it is moving in the designated area.

10. A method for controlling a moving body, The mobile body is computer-controlled, accommodating one or more occupants, and capable of moving between a lane and a designated area separate from the lane. in, The control method for the moving body causes the computer to perform the following processes: Obtain information representing the behavior of the moving body. To identify whether the moving object is moving on the lane or within the designated area. Identify the presence of a connection between the lane on the travel direction side of the moving body and the designated area. The speed of the moving body is controlled at least partially. The speed of the moving body when it moves on the lane is limited to a first speed. The speed of the moving body when moving within the designated area is limited to a second speed, which is lower than the first speed. When the moving body is moving on the lane, and the connecting portion is detected within a specified range from the moving body, and the behavior of the moving body meets specified conditions, the speed of the moving body is brought close to the second speed. The specified conditions are used to determine whether the moving body is in a shaking state.

11. A storage medium storing a program, A computer-controlled mobile vehicle, which can accommodate one or more occupants and is capable of moving between a lane and a designated area separate from the lane. in, The program causes the computer to perform the following processes: Obtain information representing the behavior of the moving body. Identify whether the moving object is moving on the lane or within the designated area. Identify the presence of a connection between the lane on the travel direction side of the moving body and the designated area. The speed of the moving body is controlled at least partially. The speed of the moving body when it moves on the lane is limited to a first speed. The speed of the moving body when moving within the designated area is limited to a second speed, which is lower than the first speed. When the moving body is moving on the lane, and the connecting portion is detected within a specified range from the moving body, and the behavior of the moving body meets specified conditions, the speed of the moving body is brought close to the second speed. The specified conditions are used to determine whether the moving body is in a shaking state.

12. A control device for a mobile body, the mobile body being able to move between a lane and a designated area different from the lane, for one or more occupants. in, The control device for the moving body includes: The acquisition unit acquires information representing the behavior of the moving body; The road type identification unit identifies whether the moving body is moving in a lane or in the designated area; A connection identification unit identifies the existence of a connection between the lane on the travel direction side of the moving body and the designated area; as well as The control unit at least partially controls the speed of the moving body, limiting the speed of the moving body to a first speed when it is moving on a lane, and limiting the speed of the moving body to a second speed lower than the first speed when it is moving in the designated area. When the moving vehicle is moving in the lane, and the connecting part is detected within a specified range from the moving vehicle, and the behavior of the moving vehicle meets specified conditions, the control unit uses an interface device to suggest deceleration to the occupants. The specified conditions are used to determine whether the moving body is in a shaking state.

13. A method for controlling a moving body, The mobile body is computer-controlled, accommodating one or more occupants, and capable of moving between a lane and a designated area separate from the lane. in, The control method for the moving body causes the computer to perform the following processes: Obtain information representing the behavior of the moving body. Identify whether the moving object is moving on the lane or within the designated area. Identify the presence of a connection between the lane on the travel direction side of the moving body and the designated area. The speed of the moving body is controlled at least partially. The speed of the moving body when it moves on the lane is limited to a first speed. The speed of the moving body when moving within the designated area is limited to a second speed, which is lower than the first speed. When the moving vehicle is moving on the lane, and the connecting portion is detected within a specified range of the moving vehicle, and the behavior of the moving vehicle meets specified conditions, an interface device is used to suggest deceleration to the occupants. The specified conditions are used to determine whether the moving body is in a shaking state.

14. A storage medium storing a program, A computer-controlled mobile vehicle, which can accommodate one or more occupants and is capable of moving between a lane and a designated area separate from the lane. in, The program causes the computer to perform the following processes: Obtain information representing the behavior of the moving body. Identify whether the moving object is moving on the lane or within the designated area. Identify the presence of a connection between the lane on the travel direction side of the moving body and the designated area. The speed of the moving body is controlled at least partially. The speed of the moving body when it moves on the lane is limited to a first speed. The speed of the moving body when moving within the designated area is limited to a second speed, which is lower than the first speed. When the moving vehicle is moving on the lane, and the connecting portion is detected within a specified range of the moving vehicle, and the behavior of the moving vehicle meets specified conditions, an interface device is used to suggest deceleration to the occupants. The specified conditions are used to determine whether the moving body is in a shaking state.

Images